version: 66.11
glider: 190
mission: 6
dive: 517
start: 2 17 113 21 10 55
data:
$ID,190
$MISSION,6
$DIVE,517
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13566.234
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2694
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170213,205421,2442.196,-3812.820,27,1.8,41,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-62.2
$GPS2,170213,211025,2442.115,-3813.067,27,1.0,27,-14.0
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,164.3,40534,-16.1,-7.101,-28.69
$D_GRID,980
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.90,-155.7,0.0,0.0,0,35,0.00,0.00,-11.12,0.000,2,0.000,0.000,143,1517,1525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.6,0.0,1,145,10.95,2.12,-85.07,0.000,4,0.344,0.167,2576,462,3329,0,0,0,0,0,0,14.09,14.04,14.68
$GC,380,-0.84,-155.7,22.8,-9.0,35,386,0.00,1.90,0.00,0.000,6,0.000,0.080,2570,1523,3329,0,0,0,0,0,0,28.83,14.18,28.83
$GC,688,-0.80,-155.7,48.6,-8.4,66,695,0.12,2.12,0.00,0.000,4,0.265,0.138,2604,458,3329,0,0,0,0,0,0,14.05,13.97,28.83
$GC,766,-0.77,-155.7,55.7,-9.0,74,774,0.00,1.95,0.00,0.000,6,0.000,0.083,2604,1517,3329,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1076,-0.77,-155.7,81.2,-8.2,105,1084,0.00,2.12,0.00,0.000,4,0.000,0.141,2605,463,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1198,-0.75,-155.7,91.5,-8.5,117,1207,0.12,1.90,0.00,0.000,6,0.263,0.083,2626,1521,3329,0,0,0,0,0,0,13.83,14.13,28.83
$GC,1509,-0.77,-155.7,114.7,-7.5,148,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1520,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1817,-0.79,-155.7,137.8,-7.7,179,1825,0.00,2.10,0.00,0.000,4,0.000,0.138,2626,462,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1876,-0.79,-155.7,142.8,-8.5,185,1887,0.00,1.88,0.00,0.000,6,0.000,0.081,2620,1494,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2188,-0.79,-155.7,169.9,-9.1,216,2194,0.00,2.03,0.00,0.000,4,0.000,0.106,2618,2579,3329,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2236,-0.79,-155.7,174.4,-8.8,221,2245,0.00,2.10,0.00,0.000,6,0.000,0.116,2618,1506,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2547,-0.81,-155.7,201.0,-7.9,252,2554,0.00,2.08,0.00,0.000,4,0.000,0.138,2618,459,3329,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2692,-0.81,-155.7,211.9,-7.4,266,2699,0.00,1.85,0.00,0.000,6,0.000,0.082,2618,1499,3329,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3003,-0.83,-155.7,232.2,-6.3,297,3011,0.00,2.05,0.00,0.000,4,0.000,0.138,2618,458,3329,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3070,-0.83,-155.7,237.1,-6.8,304,3078,0.00,1.85,0.00,0.000,6,0.000,0.080,2618,1481,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3390,-0.85,-155.7,259.1,-7.2,328,3396,0.00,2.03,0.00,0.000,4,0.000,0.136,2618,461,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3451,-0.85,-155.7,263.5,-7.3,330,3456,0.00,1.83,0.00,0.000,6,0.000,0.081,2618,1484,3329,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3784,-0.88,-155.7,288.4,-8.0,341,3789,0.00,2.03,0.00,0.000,4,0.000,0.136,2618,455,3329,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3869,-0.88,-155.7,296.1,-8.4,344,3876,0.00,1.85,0.00,0.000,6,0.000,0.083,2618,1469,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4204,-0.90,-155.7,323.9,-8.1,355,4211,0.12,2.00,0.00,0.000,4,0.137,0.133,2558,456,3328,0,0,0,0,0,0,14.50,13.97,28.83
$GC,4250,-0.90,-155.7,326.6,-8.2,356,4258,0.00,1.83,0.00,0.000,6,0.000,0.083,2552,1463,3328,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4563,-0.88,-155.7,354.5,-8.2,367,4565,0.12,0.00,0.00,0.000,6,0.264,0.000,2581,1463,3327,0,0,0,0,0,0,14.19,28.83,28.83
$GC,4861,-0.88,-155.7,377.8,-7.8,377,4867,0.00,2.00,0.00,0.000,4,0.000,0.135,2582,455,3327,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5011,-0.86,-155.7,390.5,-8.6,382,5017,0.00,1.77,0.00,0.000,6,0.000,0.083,2577,1458,3327,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5341,-0.86,-155.7,419.9,-9.1,393,5346,0.00,1.92,0.00,0.000,4,0.000,0.135,2581,455,3326,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5449,-0.86,-155.7,428.6,-9.5,396,5458,0.00,1.80,0.00,0.000,6,0.000,0.081,2571,1442,3325,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5761,-0.86,-155.7,459.0,-9.2,407,5767,0.00,1.92,0.00,0.000,4,0.000,0.136,2570,462,3325,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5910,-0.83,-155.7,473.2,-9.5,412,5917,0.10,1.73,0.00,0.000,6,0.234,0.083,2594,1408,3324,0,0,0,0,0,0,13.83,14.16,28.83
$GC,6244,-0.83,-155.7,499.3,-7.6,423,6250,0.00,1.88,0.00,0.000,4,0.000,0.138,2594,459,3324,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6399,-0.83,-155.7,510.6,-7.6,428,6407,0.00,1.70,0.00,0.000,6,0.000,0.083,2590,1387,3323,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6724,-0.83,-155.7,533.0,-6.5,439,6730,0.00,1.85,0.00,0.000,4,0.000,0.139,2590,456,3322,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6811,-0.83,-155.7,539.1,-6.6,442,6816,0.00,1.67,0.00,0.000,6,0.000,0.084,2585,1374,3321,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7143,-0.83,-155.7,560.8,-6.8,453,7148,0.00,1.83,0.00,0.000,4,0.000,0.139,2585,454,3320,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7261,-0.83,-155.7,570.0,-7.7,457,7267,0.00,1.65,0.00,0.000,6,0.000,0.085,2579,1357,3319,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7590,-0.83,-155.7,596.5,-8.4,468,7597,0.00,1.80,0.00,0.000,4,0.000,0.138,2579,462,3318,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7681,-0.83,-155.7,604.5,-8.8,471,7688,0.00,1.58,0.00,0.000,6,0.000,0.085,2573,1348,3318,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8011,-0.83,-155.7,634.6,-9.1,482,8016,0.00,1.77,0.00,0.000,4,0.000,0.140,2573,465,3318,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8059,-0.83,-155.7,637.4,-9.2,483,8068,0.12,1.62,0.00,0.000,6,0.272,0.086,2595,1349,3317,0,0,0,0,0,0,13.90,14.19,28.83
$GC,8375,-0.83,-155.7,666.7,-8.6,494,8380,0.00,1.80,0.00,0.000,4,0.000,0.141,2595,462,3316,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8491,-0.83,-155.7,677.2,-8.8,498,8496,0.00,1.58,0.00,0.000,6,0.000,0.087,2591,1317,3315,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8821,-0.83,-155.7,703.8,-7.8,509,8826,0.00,1.73,0.00,0.000,4,0.000,0.144,2592,456,3315,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8940,-0.83,-155.7,713.6,-8.2,513,8947,0.00,1.58,0.00,0.000,6,0.000,0.088,2592,1305,3314,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9271,-0.83,-155.7,738.6,-7.5,524,9276,0.00,1.67,0.00,0.000,4,0.000,0.145,2591,459,3313,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9390,-0.83,-155.7,747.8,-7.5,528,9397,0.00,1.55,0.00,0.000,6,0.000,0.089,2592,1286,3312,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9724,-0.83,-155.7,770.2,-6.7,539,9730,0.00,1.70,0.00,0.000,4,0.000,0.146,2592,459,3311,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9870,-0.83,-155.7,781.0,-7.2,544,9876,0.00,1.52,0.00,0.000,6,0.000,0.090,2592,1274,3310,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10204,-0.85,-155.7,805.0,-7.6,555,10211,0.00,1.65,0.00,0.000,4,0.000,0.148,2592,458,3309,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10279,-0.85,-155.7,809.8,-7.7,557,10282,0.00,1.50,0.00,0.000,6,0.000,0.090,2592,1262,3309,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10580,-0.85,-155.7,835.4,-8.2,567,10586,0.00,2.53,0.00,0.000,4,0.000,0.113,2592,2566,3307,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10701,-0.87,-155.7,844.9,-7.9,571,10707,0.00,2.60,0.00,0.000,6,0.000,0.128,2592,1268,3307,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11033,-0.87,-155.7,870.9,-7.7,582,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1268,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11332,-0.87,-155.7,893.0,-7.1,592,11337,0.00,2.55,0.00,0.000,4,0.000,0.111,2587,2578,3306,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11421,-0.89,-155.7,899.0,-6.7,595,11427,0.00,2.60,0.00,0.000,6,0.000,0.126,2587,1276,3305,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11754,-0.89,-155.7,921.0,-6.5,606,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1277,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12051,-0.89,-155.7,940.8,-6.8,616,12057,0.00,2.53,0.00,0.000,4,0.000,0.112,2580,2573,3303,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12160,-0.89,-155.7,946.6,-6.4,619,12169,0.00,2.60,0.00,0.000,6,0.000,0.125,2580,1278,3303,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12470,-0.89,-155.7,970.8,-7.8,630,12476,0.00,2.55,0.00,0.000,4,0.000,0.112,2579,2570,3302,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12519,-0.89,-155.7,973.2,-7.9,631,12529,0.00,2.58,0.00,0.000,6,0.000,0.126,2579,1300,3301,0,0,0,0,0,0,28.83,13.79,28.83
$STATE,12586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12586,begin apogee
$GC,12596,-0.25,0.0,980.7,-8.2,634,12757,0.73,0.00,156.18,1.810,4,0.207,0.000,2779,1517,2691,0,0,0,0,0,0,13.69,28.83,12.96
$STATE,12762,end apogee,CONTROL_FINISHED_OK
$STATE,12762,begin climb
$GC,12765,0.90,155.7,988.9,0.0,639,12942,1.20,2.03,165.35,1.821,4,0.133,0.119,3153,2578,2058,0,0,0,0,0,0,14.10,14.09,13.00
$GC,12971,0.89,228.7,984.4,4.8,646,13054,0.00,2.12,78.03,1.740,6,0.000,0.140,3161,1527,1760,0,0,0,0,0,0,28.83,14.08,13.06
$GC,13364,0.89,228.7,949.8,8.8,660,13370,0.00,2.03,0.00,0.000,4,0.000,0.122,3161,2582,1743,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13513,0.89,228.7,936.6,8.8,665,13520,0.00,2.08,0.00,0.000,6,0.000,0.143,3168,1548,1741,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,24023,end climb,SURFACE_DEPTH_REACHED
$STATE,24023,begin surface coast
$FINISH,1.7,1.025846
$STATE,24062,end surface coast,CONTROL_FINISHED_OK
$STATE,24062,begin surface
$SM_CCo,24087,61.53,0.124,0,0,1265,350.04
$SM_GC,2.46,8.98,0.75,61.53,0.083,0.143,0.124,144,1516,1265,-8.46,0.20,350.04,0,0,0,0,0,0,14.19,13.83,14.16
$IRIDIUM_FIX,2434.69,-3811.43,170213,202011
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.99
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.00
$XPDR_PINGS,5
$SC_FREEKB,7572480
$24V_AH,13.0,218.135
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.250,198.625,399.550,61.525,0.000,0.000,0.000,591.000,1.250,0.000,28.046,3551.164,16812.088,898.558,3001.961,832.128,0.000,2766.953,0.000,2370.006,0.000,0.542,0.000
$DEVICE_MAMPS,344.250,166.770,1820.700,123.930,0.000,0.000,0.000,156.060,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24118.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.218,0.000,0.000,0.000
$MEM,344900
$DATA_FILE_SIZE,46568,1206
$CAP_FILE_SIZE,256140,0
$CFSIZE,260034560,181424128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,273.7,1
$GPS,180213,035435,2441.412,-3812.930,24,1.0,24,-14.0